Bionic dexterous hand and control method thereof

Abstract

The invention relates to the field of manipulators, and discloses a bionic dexterous hand and a control method thereof.The bionic dexterous hand comprises a thumb structure, an index finger structure, a middle finger structure, a ring finger structure and a tail finger structure which are sequentially hinged to a palm and further comprises a first rope driving mechanism, a second rope driving mechanism and a third rope driving mechanism which are arranged on the palm; the third rope driving mechanism comprises a third rope driving assembly and three linkage ropes, one ends of the three linkage ropes are connected with the third rope driving assembly, and the other ends of the three linkage ropes pass through three linkage channels and are connected with the middle finger structure, the ring finger structure and the tail finger structure correspondingly; the third rope driving assembly is used for moving on the palm in the direction away from the index finger structure so as to tighten the three linkage ropes to drive the middle finger structure, the ring finger structure and the tail finger structure to rotate towards the palm center at the same time. According to the bionic dexterous hand, the folding and unfolding actions of the five fingers are controlled through the three drivers, occupation of the inner space of the palm is reduced, the design better conforms to ergonomics, and the integration degree of the bionic dexterous hand is improved.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a bionic dexterous hand and a control method thereof. Background Art

[0002] The bionic dexterous hand is a highly flexible and complex end-effector that can imitate various dexterous grasping movements of the human hand.

[0003] In the prior art, although various types of dexterous hands have been developed, including fully driven and underdriven types, they generally face several key challenges: complex driving finger movements, complex structures that take up large space, and safety issues caused by hard transmission between fingers. Although there are attempts to improve position accuracy and flexibility in the prior art, these designs are usually complex in structure, difficult to mass produce and maintain, lack versatility and modularity, and increase manufacturing costs and difficulty in use.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a bionic dexterous hand and a control method thereof in view of the above-mentioned defects of the prior art, aiming to solve the problems in the prior art that the driving finger movement of the dexterous hand is complex, the structure occupies a large space, and the manufacturing cost and difficulty of use are increased.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] A bionic dexterous hand comprises a palm, and a thumb structure, an index finger structure, a middle finger structure, a ring finger structure and a pinky finger structure which are hinged to the palm in sequence, and a first rope drive mechanism, a second rope drive mechanism and a third rope drive mechanism which are arranged on the palm;

[0008] The palm is provided with a first channel, a second channel and three linkage channels;

[0009] The first rope drive mechanism is connected to the thumb structure via a first channel, and is used to drive the thumb structure to rotate toward the palm direction;

[0010] The second rope driving mechanism is connected to the index finger structure via the second channel, and is used to drive the index finger structure to rotate toward the palm center;

[0011] The third rope drive mechanism includes a third rope drive assembly and three linkage ropes, one end of the three linkage ropes is connected to the third rope drive assembly, and the other end passes through the three linkage channels and is respectively connected to the middle finger structure, the ring finger structure and the little finger structure; wherein the third rope drive assembly is used to move on the palm in a direction away from the index finger structure, so as to tighten the three linkage ropes to drive the middle finger structure, the ring finger structure and the little finger structure to rotate toward the palm at the same time.

[0012] Optionally, the third rope drive assembly includes a slider, a linkage pulley, a third drive rope, a fourth drive rope and a drive component;

[0013] The slider is slidably arranged on the palm and connected to the driving component. The slider is provided with the linkage pulley, and the linkage pulley includes a first wheel disc and a second wheel disc. The third driving rope is wound around the first wheel disc, and the two ends form a first end and a second end. One end of the fourth driving rope is wound around the second wheel disc.

[0014] The first end, the second end and the other end of the fourth driving rope form three linkage ropes.

[0015] Optionally, the three linkage channels include a third channel, a fourth channel and a fifth channel, the first end is connected to the ring finger structure via the third channel, the second end is connected to the little finger structure via the fourth channel, and the other end of the fourth drive rope is connected to the middle finger structure via the fifth channel.

[0016] Optionally, a slide rail is provided on the palm, the slider is slidably provided on the slide rail, and the driving component includes:

[0017] A third motor is disposed on the palm;

[0018] A third winding wheel is arranged on the output shaft of the third motor;

[0019] A pulley structure, used to be connected with the slider;

[0020] a transmission rope, one end of which is wound around the third winding wheel and the other end of which is connected to the pulley structure;

[0021] Among them, the third motor tightens the transmission rope, and the transmission rope pulls the slider through the pulley structure to slide on the slide rail in a direction away from the index finger structure, so as to tighten the third drive rope and the fourth drive rope, and drive the middle finger structure, the ring finger structure and the little finger structure to rotate toward the palm direction.

[0022] Optionally, the pulley structure includes:

[0023] A first fixed pulley, disposed on the palm and rotatably connected to the palm;

[0024] A second fixed pulley is disposed on the palm and is rotationally connected to the palm and is located on one side of the slide rail;

[0025] a third fixed pulley, disposed on the slider and rotatably connected to the slider;

[0026] a fourth fixed pulley, which is arranged on the palm and is rotatably connected to the palm and is located on the other side of the slide rail, and the second fixed pulley and the fourth fixed pulley are arranged in parallel;

[0027] a fifth fixed pulley, disposed on the palm and rotatably connected to the palm;

[0028] Wherein, the transmission rope is sequentially wound around the upper side of the first fixed pulley, the lower side of the second fixed pulley, the upper side of the third fixed pulley and the lower side of the fourth fixed pulley, and is connected to the fifth fixed pulley.

[0029] Optionally, the thumb structure includes a first thumb joint, a second thumb joint, a third thumb joint, a thumb drive rope and a thumb reset rope;

[0030] One end of the first thumb joint is arranged on the palm, and the other end is hinged to the second thumb joint, and the second thumb joint is hinged to the third thumb joint. The first thumb joint, the second thumb joint and the third thumb joint are all provided with a first thumb passage for the thumb driving rope to pass through, and the second thumb joint and the third thumb joint are all provided with a second thumb passage for the thumb reset rope to pass through.

[0031] One end of the thumb drive rope is connected to the first rope drive mechanism, and the other end of the thumb drive rope passes through the first thumb channel and is connected to the third thumb joint; a detachable thumb reset piece is arranged in the third thumb joint, and one end of the thumb reset rope is connected to the second thumb joint, and the other end passes through the second thumb channel and is connected to the thumb reset piece;

[0032] Wherein, the first rope drive mechanism is used to tighten the thumb drive rope to bend the second knuckle of the thumb and the third knuckle of the thumb, and the thumb reset rope pulls the thumb reset member to compress elastic potential energy; when the first rope drive mechanism releases the thumb drive rope, the thumb reset member releases elastic potential energy to pull the thumb reset rope to unfold the second knuckle of the thumb and the third knuckle of the thumb.

[0033] Optionally, the thumb structure also includes a thumb locking piece for fixing the thumb reset rope, a thumb adjustment groove is provided in the second knuckle of the thumb, one end of the thumb reset rope extends into the thumb adjustment groove and is wound around the thumb locking piece, and the thumb locking piece is fixed in the thumb adjustment groove.

[0034] Optionally, the index finger structure includes a first knuckle of the index finger, a second knuckle of the index finger, a third knuckle of the index finger, a fourth knuckle of the index finger, an index finger drive rope, and an index finger reset rope;

[0035] One end of the first knuckle of the index finger is arranged on the palm, and the other end is hinged to the second knuckle of the index finger, the second knuckle of the index finger, the third knuckle of the index finger and the fourth knuckle of the index finger are hinged in sequence, the first knuckle of the index finger, the second knuckle of the index finger, the third knuckle of the index finger and the fourth knuckle of the index finger are all provided with a first index finger channel for the index finger driving rope to pass through, and the second knuckle of the index finger, the third knuckle of the index finger and the fourth knuckle of the index finger are provided with a second index finger channel for the index finger reset rope to pass through;

[0036] One end of the index finger driving rope is connected to the second rope driving mechanism, and the other end passes through the first channel of the index finger and is connected to the fourth knuckle of the index finger;

[0037] A detachable index finger reset piece is arranged in the fourth knuckle of the index finger, one end of the index finger reset rope is connected to the second knuckle of the index finger, and the other end passes through the second channel of the index finger and is connected to the index finger reset piece;

[0038] Among them, the second rope drive mechanism is used to tighten the index finger drive rope to bend the third joint of the index finger and the fourth joint of the index finger, and the index finger reset rope pulls the index finger reset part to compress the elastic potential energy; when the second rope drive mechanism releases the index finger drive rope, the index finger reset part releases the elastic potential energy to pull the index finger reset rope to unfold the third joint of the index finger and the fourth joint of the index finger.

[0039] Optionally, a rotating shaft is provided on the first joint of the index finger, the rotating shaft is rotatably connected to the second joint of the index finger, and gaps are left at both ends, and torsion springs are provided in the two gaps, and the torsion directions of the two torsion springs are different.

[0040] A control method of a bionic dexterous hand, the control method being applied to the bionic dexterous hand as described in any one of the above technical solutions, the control method comprising:

[0041] Receive action instructions;

[0042] The first rope-driven mechanism, the second rope-driven mechanism and the third rope-driven mechanism corresponding to the motion instruction are determined to drive the bionic dexterous hand to bend to a target position.

[0043] Beneficial effects:

[0044] The present invention provides a bionic dexterous hand and a control method thereof. By setting a first rope drive mechanism, a second rope drive mechanism and a third rope drive mechanism, the retraction and extension of five fingers can be driven by only three drives, reducing the occupation of the internal space of the palm, so as to reduce the thickness and width of the palm, making the design more ergonomic, improving the integration of the bionic dexterous hand, and effectively reducing the cost. The index finger structure of the present invention is connected to the first rope drive mechanism, and the thumb structure is connected to the second rope drive mechanism, all of which adopt a separate drive direct control method, eliminating the intermediate transmission link, reducing the energy loss and error accumulation in the transmission process, and can achieve more accurate position control, thereby improving the flexibility of the bionic dexterous hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a structural diagram of the bionic dexterous hand of the present invention;

[0046] Figure 2 is a structural diagram of the palm of the present invention;

[0047] Figure 3 is a structural diagram of the thumb structure of the present invention;

[0048] Figure 4 is an exploded view of the thumb structure of the present invention;

[0049] Figure 5 is a cross-sectional view of the thumb structure of the present invention;

[0050] Figure 6 is a structural diagram of the index finger structure of the present invention;

[0051] Figure 7 is an exploded view of the index finger structure of the present invention;

[0052] Figure 8 is a cross-sectional view of the index finger structure of the present invention;

[0053] Fig. 9 It is a flow chart of the control method in the present invention.

[0054] In the figure:

[0055] 100. Palm;

[0056] 200, first rope drive mechanism; 210, first motor; 220, first winding wheel; 230, first driving pulley; 240, first driving rope;

[0057] 300, second rope drive mechanism; 310, second motor; 320, second winding wheel; 330, second drive rope;

[0058] 400, third rope drive mechanism; 410, slide rail; 420, slider; 430, linkage pulley; 441, third motor; 442, third winding wheel; 443, first fixed pulley; 444, second fixed pulley; 445, third fixed pulley; 446, fourth fixed pulley; 447, fifth fixed pulley; 448, transmission rope; 451, first end of third driving rope; 452, second end of third driving rope; 453, first tensioning pulley; 454, second tensioning pulley; 460, fourth driving rope; 461, third tensioning pulley; 462, fourth tensioning pulley;

[0059] 500, thumb structure; 510, first thumb joint; 520, second thumb joint; 530, third thumb joint; 540, thumb drive rope; 541, thumb pulley; 542, first thumb latch; 543, second thumb latch; 544, third thumb latch; 550, thumb reset rope; 551, thumb locking member; 552, thumb reset member; 553, thumb abutment member; 554, fourth thumb latch; 555, fifth thumb latch; 556, sixth thumb latch;

[0060] 600, index finger structure; 610, first knuckle of index finger; 611, rotating shaft; 612, torsion spring; 620; second knuckle of index finger; 630, third knuckle of index finger; 640, fourth knuckle of index finger; 650, driving rope of index finger; 651, first latch of index finger; 652, second latch of index finger; 653, third latch of index finger; 654, fourth latch of index finger; 660, reset rope of index finger; 661, locking member of index finger; 662, reset member of index finger; 663, abutting member of index finger; 664, fifth latch of index finger; 665, sixth latch of index finger; 666, seventh latch of index finger; 667, eighth latch of index finger; 668, ninth latch of index finger; 669, tenth latch of index finger; 6610, eleventh latch of index finger;

[0061] 700, middle finger structure;

[0062] 800, ring finger structure;

[0063] 900. Little finger structure. DETAILED DESCRIPTION

[0064] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0065] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0066] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0067] The bionic dexterous hand is a highly flexible and complex end effector that can imitate various dexterous grasping movements of the human hand. In the prior art, although various types of dexterous hands have been developed, including fully driven and underdriven types, they generally face several key challenges: the complex movements of the finger drive components, the complex structure and large space occupied, and the safety issues caused by the hard transmission between fingers. In particular, the dexterous hand with tendon transmission mechanism can achieve more precise motion control by tensioning the tendon rope, but the layout and pre-tightening problems of the tendon rope, the interference with the internal structure of the finger, and the space occupied and durability of the elastic element all seriously limit the flexibility and reliability of its practical application. In particular, the elastic element used to assist in the resetting of the finger joints has become an important factor restricting the miniaturization and humanization design process of the dexterous hand due to its inherent volume occupation problem and the characteristics of being susceptible to fatigue damage under long-term use and needing regular replacement. On the other hand, although there are schemes in the prior art that attempt to improve position accuracy and flexibility, these designs are usually complex in structure, difficult to mass produce and maintain, lack versatility and modularity, and increase manufacturing costs and difficulty in use.

[0068] Based on the above problems, the present application has made the following improvements: Figure 1 As shown:

[0069] A bionic dexterous hand comprises a palm 100, and a thumb structure 500, an index finger structure 600, a middle finger structure 700, a ring finger structure 800 and a pinky finger structure 900 which are hinged to the palm 100 in sequence, and a first rope drive mechanism 200, a second rope drive mechanism 300 and a third rope drive mechanism 400 which are arranged on the palm 100;

[0070] The palm 100 is provided with a first channel, a second channel and three linkage channels;

[0071] The first rope driving mechanism 200 is connected to the thumb structure 500 via a first channel, and is used to drive the thumb structure 500 to rotate toward the palm direction;

[0072] The second rope driving mechanism 300 is connected to the index finger structure 600 via the second channel, and is used to drive the index finger structure 600 to rotate toward the palm center;

[0073] The third rope drive mechanism 400 includes a third rope drive assembly and three linkage ropes, one end of the three linkage ropes is connected to the third rope drive assembly, and the other end passes through the three linkage channels and is respectively connected to the middle finger structure 700, the ring finger structure 800 and the little finger structure 900; wherein the third rope drive assembly is used to move on the palm 100 in a direction away from the index finger structure 600, so as to tighten the three linkage ropes to drive the middle finger structure 700, the ring finger structure 800 and the little finger structure 900 to rotate toward the palm at the same time.

[0074] In the embodiment of the present application, the first rope drive mechanism 200 is connected to the thumb structure 500 through the first channel, the second rope drive mechanism 300 is connected to the index finger structure 600 through the second channel, and the third rope drive assembly is connected to three linkage ropes, and the three linkage ropes are respectively connected to the middle finger structure 700, the ring finger structure 800 and the pinky finger structure 900 through three linkage channels. The present application only uses the first rope drive mechanism 200, the second rope drive mechanism 300 and the third rope drive mechanism 400, and three drives can drive the retraction and extension of the five fingers, reducing the occupation of the internal space of the palm 100, so as to reduce the thickness and width of the palm 100, making the design more ergonomic, improving the integration of the bionic dexterous hand, being more convenient to use, and effectively reducing the manufacturing cost.

[0075] In the present application, the thumb structure 500 and the index finger structure 600 are used more frequently. The thumb structure 500 is independently controlled by the first rope drive mechanism 200, and the index finger structure 600 is independently controlled by the second rope drive mechanism 300. This is not only reasonably designed, but also omits the intermediate transmission link, thereby reducing energy loss and error accumulation during the transmission process. Independent control enables the thumb structure 500 and the index finger structure 600 to perform more delicate movements and achieve more precise position control, thereby improving the flexibility of the bionic dexterous hand and enabling the bionic dexterous hand to perform better when performing tasks requiring the thumb structure 500 and the index finger structure 600.

[0076] In addition, in the present application, three linkage ropes are respectively connected to the middle finger structure 700, the ring finger structure 800 and the little finger structure 900, and there are many ways of connection, which are not limited here.

[0077] See also Figure 2 As shown, in another embodiment of the present application, the first rope drive mechanism 200 includes a first motor 210, a first winding wheel 220, a first driving pulley 230 and a first driving rope 240, the first motor 210 is arranged on the palm 100, the first winding wheel 220 is arranged on the output shaft of the first motor 210, the first driving pulley 230 is rotatably arranged on the palm 100, and the first driving rope 240 is wound around the first winding wheel 220.

[0078] Specifically, when the first motor 210 rotates, the first winding wheel 220 on the first motor 210 rotates to drive the first driving rope 240, and the first driving rope 240 changes the transmission direction through the first driving pulley 230 and is connected to the thumb structure 500, thereby being able to drive the thumb structure 500 to unfold or bend.

[0079] For example Figure 2 As shown, in another embodiment of the present application, the second driving mechanism includes a second motor 310, a second winding wheel 320 and a second driving rope 330. The second motor 310 is installed on the palm 100. The second winding wheel 320 is set on the output shaft of the second motor 310. The second driving rope 330 is wound around the second winding wheel 320. The output end of the second driving rope 330 is opposite to the index finger structure 600, thereby being able to drive the thumb structure 500 to rotate.

[0080] See also Figure 1 and Figure 2As shown, in another embodiment of the present application, the third rope drive assembly includes a slider 420, a linkage pulley 430, a third drive rope, a fourth drive rope 460 and a drive component, the slider 420 is slidably arranged on the palm 100, and is connected to the drive component, the slider 420 is provided with the linkage pulley 430, the linkage pulley 430 includes a first wheel and a second wheel, the third drive rope is wound around the first wheel, and both ends form a first end and a second end, one end of the fourth drive rope 460 is wound around the second wheel, wherein the first end, the second end and the other end of the fourth drive rope 460 form three linkage ropes.

[0081] The third rope drive assembly is disclosed in the embodiment of the present application. The third rope drive assembly includes a slider 420, a linkage pulley 430, a third driving rope, a fourth driving rope 460 and a driving component. The slider 420 is driven to move by the driving component, so that the linkage pulley 430 on the slider 420 is driven to move in the direction away from the index finger structure 600 on the palm 100, and the third driving rope and the fourth driving rope 460 on the linkage pulley 430 also move accordingly. The first end 451 of the third driving rope, the second end of the third driving rope and the other end of the fourth driving rope 460 form three linkage ropes, which are connected to the middle finger structure 700, the ring finger structure 800 and the pinky finger structure 900 to drive the middle finger structure 700, the ring finger structure 800 and the pinky finger structure 900 to rotate toward the palm center at the same time. It should be noted that there are many ways for the driving component to drive the slider 420 to move on the palm 100, which are not limited here. Those skilled in the art can select a suitable structural design driving component according to actual needs.

[0082] The present embodiment also discloses a third driving rope and a fourth driving rope 460. The first end 451 of the third driving rope, the second end 452 of the third driving rope and the other end of the fourth driving rope 460 form three interlocking ropes. The third driving rope and the fourth driving rope 460 are arranged to form three interlocking ropes, which simplifies the number of ropes, realizes effective transmission of power, simplifies the mechanical structure, and makes the design reasonable and reliable.

[0083] See also Figure 2 As shown, in another embodiment of the present application, the three linkage channels include a third channel, a fourth channel and a fifth channel, the first end 451 of the third drive rope is connected to the ring finger structure 800 via the third channel, the second end 452 of the third drive rope is connected to the little finger structure 900 via the fourth channel, and the other end of the fourth drive rope 460 is connected to the middle finger structure 700 via the fifth channel.

[0084] Specifically, by properly arranging the directions of the third driving rope and the fourth driving rope 460, it is avoided that the ropes interfere with the palm and cause conflict.

[0085] In another embodiment of the present application, in order to ensure that the first end 451 of the third drive rope can accurately drive the ring finger structure 800 to bend, the position of the first end 451 of the third drive rope is at a certain distance from the position of the ring finger structure 800, and the first end 451 of the third drive rope is connected to the ring finger structure 800 after passing through the third channel, and the first tensioning pulley 453 and the second tensioning pulley 454 are arranged on the third channel, and the first tensioning pulley 453 and the second tensioning pulley 454 are both rotatably arranged on the palm 100, and can rotate on the palm 100. When the first end 451 of the third drive rope is wound out through the upper side of the first tensioning pulley 453 and the lower side of the second tensioning pulley 454, and the output position is facing the ring finger structure 800, it can ensure that the power of the first end 451 of the third drive rope is effectively transmitted, and the reliability of the first end 451 of the third drive rope is improved.

[0086] In another embodiment of the present application, the slider 420 is slidably disposed on the palm 100 and aligned with the hinge position of the little finger structure 900. The linkage pulley 430 on the slider 420 is aligned with the hinge position of the little finger structure 900, and the output position of the second end 452 of the third drive rope is just aligned with the hinge position of the little finger structure 900. The second end 452 of the third drive rope can be directly connected to the little finger structure 900, and no other auxiliary parts are required on the fourth channel to tighten the second end 452 of the third drive rope, which is conducive to reducing the setting of transmission parts and improving transmission efficiency.

[0087] In another embodiment of the present application, the other end of the fourth drive rope 460 is located at a certain distance from the middle finger structure 700, and the other end of the fourth drive rope 460 is connected to the middle finger structure 700 via a fifth channel, and a third tension pulley 461 and a fourth tension pulley 462 are arranged on the fifth channel, and the third tension pulley 461 and the fourth tension pulley 462 are both rotatably arranged on the palm 100, and can rotate on the palm 100. When the other end of the fourth drive rope 460 is wound out through the upper side of the third tension pulley 461 and the lower side of the fourth tension pulley 462, and the output position is directly opposite to the middle finger structure 700, the power of the other end of the fourth drive rope 460 can be effectively transmitted, thereby improving the reliability of the other end of the fourth drive rope 460.

[0088] See also Figure 1 and Figure 2As shown, in another specific embodiment of the present application, a slide rail 410 is provided on the palm 100, and the slider 420 is slidably provided on the slide rail 410. The driving component includes a third motor 441, a third winding wheel 442, a pulley structure and a transmission rope 448. The third motor 441 is provided on the palm 100, and the third winding wheel 442 is provided on the output shaft of the third motor 441. The pulley structure is used to connect with the slider 420; one end of the transmission rope 448 is wound around It is arranged on the third winding wheel 442, and the other end is connected to the pulley structure; wherein, the third motor 441 tightens the transmission rope 448, and the transmission rope 448 pulls the slider 420 through the pulley structure to slide on the slide rail 410 in a direction away from the index finger structure 600, so as to tighten the third driving rope and the fourth driving rope 460, and drive the middle finger structure 700, the ring finger structure 800 and the little finger structure 900 to rotate toward the palm direction.

[0089] Specifically, the present embodiment discloses that a slide rail 410 is disposed on the palm 100, and the slide rail 410 is vertically disposed on the palm 100. A slider 420 is slidably disposed on the slide rail 410. The slide rail 410 is disposed to drive the slider 420 to move in a direction close to or away from the index finger structure 600 on the palm 100. The slide rail 410 can adopt an existing linear slide rail 410, and using the slide rail 410 to slide the slider 420 is stable and reliable.

[0090] Furthermore, the present embodiment also discloses a driving component, which includes a third motor 441, a third winding wheel 442, a pulley structure and a transmission rope 448. The third motor 441 drives the third winding wheel 442 to rotate, and then the transmission rope 448 on the third winding wheel 442 drives the pulley structure to move, and finally the pulley structure is connected to the slider 420 to drive the slider 420 to move on the slide rail 410. The transmission rope 448 cooperates with the pulley structure to drive the slider 420 to move, which is conducive to reducing the weight of the bionic dexterous hand and improving the transmission efficiency. It can be understood that the specific structure of the pulley structure can be set by technicians in this field according to actual use.

[0091] See also Figure 2As shown, in another specific embodiment of the present application, the pulley structure includes a first fixed pulley 443, a second fixed pulley 444, a third fixed pulley 445, a fourth fixed pulley 446 and a fifth fixed pulley 447, the first fixed pulley 443 is arranged on the palm 100 and is rotatably connected to the palm 100, the second fixed pulley 444 is arranged on the palm 100 and is rotatably connected to the palm 100, and is located on one side of the slide rail 410, the third fixed pulley 445 is arranged on the slider 420 and is rotatably connected to the slider 420, and the fourth fixed pulley 446 is arranged on the slider 420. The pulley 446 is arranged on the palm 100 and is rotatably connected to the palm 100, and is located on the other side of the slide rail 410. The second fixed pulley 444 and the fourth fixed pulley are arranged in parallel. The fifth fixed pulley 447 is arranged on the palm 100 and is rotatably connected to the palm 100. The transmission rope 448 is sequentially wound around the upper side of the first fixed pulley 443, the lower side of the second fixed pulley 444, the upper side of the third fixed pulley 445 and the lower side of the fourth fixed pulley 446, and is connected to the fifth fixed pulley 447.

[0092] Specifically, the present embodiment discloses a specific structure of the pulley structure, which includes a first fixed pulley 443, a second fixed pulley 444, a third fixed pulley 445, a fourth fixed pulley 446 and a fifth fixed pulley 447. One end of a transmission rope 448 is wound around the third winding wheel 442, and the other end of the transmission rope 448 is changed to vertically transmit power through the upper side of the first fixed pulley 443, and then tensioned through the lower side of the second fixed pulley 444, and then through the upper side of the third fixed pulley 445. The third fixed pulley 445 is fixed on the slider 420 and is located below the linkage pulley 430. It then passes through the lower side of the fourth fixed pulley 446 and is finally connected to the fifth fixed pulley 447. As a result, the power of the transmission rope 448 is changed into vertical movement power to drive the slider 420 to move upward or downward on the slide rail 410. The pulley structure cooperates with the transmission rope 448 to drive the movement of the slider 420, thereby realizing the upward or downward movement of the slider 420 on the slide rail 410.

[0093] See also Figures 3 to 5As shown, the present application further provides a thumb structure 500, the thumb structure 500 includes a first thumb knuckle 510, a second thumb knuckle 520, a third thumb knuckle 530, a thumb drive rope 540 and a thumb reset rope 550; one end of the first thumb knuckle 510 is arranged on the palm 100, and the other end is hinged to the second thumb knuckle 520, the second thumb knuckle 520 is hinged to the third thumb knuckle 530, the first thumb knuckle 510, the second thumb knuckle 520 and the third thumb knuckle 530 are all provided with a thumb first channel for the thumb drive rope 540 to pass through, the second thumb knuckle 520 and the third thumb knuckle 530 are all provided with a thumb second channel for the thumb reset rope 550 to pass through; one end of the thumb drive rope 540 is connected to the first rope drive mechanism 200, and the second thumb knuckle 520 and the third thumb knuckle 530 are all provided with a thumb second channel for the thumb reset rope 550 to pass through. , the other end of the thumb drive rope 540 passes through the first thumb channel and is connected to the third thumb joint 530; a detachable thumb reset member 552 is arranged in the third thumb joint 530, one end of the thumb reset rope 550 is connected to the second thumb joint 520, and the other end passes through the second thumb channel and is connected to the thumb reset member 552; wherein, the first rope drive mechanism 200 is used to tighten the thumb drive rope 540 to bend the second thumb joint 520 and the third thumb joint 530, and the thumb reset rope 550 pulls the thumb reset member 552 to compress the elastic potential energy; when the first rope drive mechanism 200 releases the thumb drive rope 540, the thumb reset member 552 releases the elastic potential energy to pull the thumb reset rope 550 to unfold the second thumb joint 520 and the third thumb joint 530.

[0094] Specifically, the thumb structure 500 disclosed in this embodiment includes a first thumb joint 510, a second thumb joint 520, a third thumb joint 530, a thumb drive rope 540, and a thumb reset rope 550. A first thumb passage is provided in the middle of the first thumb joint 510 for the thumb drive rope 540 to pass through, a first groove is provided on one side, and the first groove is used to be rotatably connected with one end of the second thumb joint 520. One end of the thumb drive rope 540 is connected with the first rope drive mechanism 200, and the other end of the thumb drive rope 540 passes through the first thumb passage and is connected with the third thumb joint 530. One end of the thumb reset rope 550 is provided in the second thumb joint 520, and the other end passes through the second thumb passage and is connected with the thumb reset member 552.

[0095] In actual use, when the first rope drive mechanism 200 tightens the thumb drive rope 540, the thumb drive rope 540 pulls the second knuckle 520 of the thumb and the third knuckle 530 of the thumb, and the second knuckle 520 of the thumb and the third knuckle 530 of the thumb are bent to the target angle. At this time, the thumb reset rope 550 is tightened by the thumb reset member 552, and the thumb reset member 552 compresses the elastic potential energy; when the first rope drive mechanism 200 releases the thumb drive rope 540, the thumb reset rope 550 is relaxed, and the thumb reset member 552 releases the elastic potential energy to drive the thumb reset rope 550 to reset, so as to unfold the second knuckle 520 of the thumb and the third knuckle 530 of the thumb, so as to be used for grabbing objects next time.

[0096] Furthermore, the present embodiment also discloses a thumb restoring member 552 , which is installed in the third knuckle 530 of the thumb. The detachable setting of the thumb restoring member 552 is conducive to replacement and convenient maintenance.

[0097] Preferably, the thumb reset member 552 is a thumb spring, and a thumb installation groove is provided in the third thumb joint 530 for installing the thumb reset member 552. The thumb reset rope 550 is used to connect the thumb spring to drive the thumb spring to compress and release. Using a thumb spring as the thumb reset member 552 is conducive to reducing costs, has a simple structure, and is easy to implement.

[0098] For example Figures 3 to 5 As shown, in another embodiment of the present application, the thumb structure 500 further includes a thumb locking member 551 for fixing the thumb reset rope 550, a thumb adjustment groove is provided in the second thumb joint 520, one end of the thumb reset rope 550 extends into the thumb adjustment groove and is wound around the thumb locking member 551, and the thumb locking member 551 is fixed in the thumb adjustment groove.

[0099] Specifically, the thumb reset rope 550 is wound around the thumb locking member 551. When the number of turns of the thumb reset rope 550 around the thumb locking member 551 is different, the tightness of the thumb reset rope 550 is different, and the pre-tightening force generated is different. At this time, the pre-tightening force of the thumb reset rope 550 can be adjusted by the thumb locking member 551, which is convenient for user operation.

[0100] Furthermore, the thumb locking member 551 disclosed in the present embodiment adopts a thumb machine screw, which is threadedly connected to the thumb adjustment groove and is wrapped around one end of the thumb reset rope 550. When the thumb reset rope 550 is wrapped around the thumb machine screw and is subjected to the tension of the thumb machine screw, the threaded connection between the thumb machine screw and the thumb adjustment groove will be tightened, and the thumb reset rope 550 will be more tightly locked without slipping.

[0101] See also Figure 3As shown, in another embodiment of the present application, a thumb abutment 553 is provided in the thumb mounting groove, and the thumb abutment 553 includes a head and a tail, the diameter of the head is larger than the diameter of the tail, a leakage hole is provided in the middle of the tail, the head abuts against the thumb reset member 552, and the leakage hole in the middle of the tail is used for the thumb reset rope 550 to pass through and be connected to the head.

[0102] Specifically, the thumb abutment 553 disclosed in this embodiment includes a head and a tail, and the head is fixedly connected to the tail. When the thumb reset rope 550 passes through the leakage hole of the tail and is connected to the head, the head abuts against the thumb reset piece 552. At this time, the increased area of ​​the head is conducive to compressing the thumb reset piece 552, and the setting of the tail is conducive to the connection of the thumb reset rope 550. The setting of the thumb abutment 553 makes the thumb reset piece 552 easier to be compressed.

[0103] See also Figure 5 As shown, in another embodiment of the present application, the first thumb channel includes two thumb pulleys 541 arranged in the second thumb joint 520, a first thumb pin 542 arranged in the second thumb joint 520, and a second thumb pin 543 and a third thumb pin 544 arranged in the third thumb joint 530, and a thumb gap is formed between the two thumb pulleys 541; wherein, one end of the thumb drive rope 540 is connected to the first rope drive mechanism 200, and the other end passes through the thumb gap, the upper side of the first thumb pin 542 and the lower side of the second thumb pin 543 in sequence, and is wrapped around the third thumb pin 544.

[0104] Specifically, the present embodiment discloses a first thumb channel, and by arranging two thumb pulleys 541, a first thumb pin 542, a second thumb pin 543 and a third thumb pin 544 on the first thumb channel, one end of the thumb drive rope 540 is connected to the first rope drive mechanism 200, and the other end passes through the thumb gap, the upper side of the first thumb pin 542 and the lower side of the second thumb pin 543 in sequence, and is wound around the third thumb pin 544, so that the thumb drive rope 540 is in a tensioned state, ensuring that the power of the thumb drive rope 540 is effectively transmitted.

[0105] For example Figure 5 As shown, in another embodiment of the present application, the second thumb channel includes: a fourth thumb pin 554 arranged in the second thumb joint 520, and a fifth thumb pin 555 and a sixth thumb pin 556 arranged in the third thumb joint 530; wherein one end of the thumb reset rope 550 is connected to the thumb locking member 551, and the other end passes through the upper side of the fourth thumb pin 554, the upper side of the fifth thumb pin 555 and the upper side of the sixth thumb pin 556 in sequence, and is connected to the thumb reset member 552.

[0106] Specifically, the present embodiment discloses a second thumb channel, and by arranging a fourth thumb pin 554, a fifth thumb pin 555 and a sixth thumb pin 556 on the second thumb channel, one end of the thumb reset rope 550 is connected to the thumb locking member 551, and the other end of the thumb reset rope 550 passes through the upper side of the fourth thumb pin 554, the upper side of the fifth thumb pin 555 and the upper side of the sixth thumb pin 556, and is connected to the thumb reset member 552, so that the thumb reset rope 550 is in a tensioned state, ensuring that the power of the thumb reset rope 550 is effectively transmitted.

[0107] Based on the above embodiments, in another embodiment of the present application, the first thumb pin 542, the second thumb pin 543, the third thumb pin 544, the fourth thumb pin 554, the fifth thumb pin 555 and the sixth thumb pin 556 are all cylindrical structures with rounded and smooth surfaces to allow the thumb drive rope 540 and the thumb reset rope 550 to pass smoothly.

[0108] See also Figures 6 to 8As shown, another embodiment of the present application further provides an index finger structure 600, the index finger structure 600 includes a first index finger joint 610, a second index finger joint 620, a third index finger joint 630, a fourth index finger joint 640, an index finger drive rope 650 and an index finger reset rope 660; one end of the first index finger joint 610 is arranged on the palm 100, and the other end is hinged to the second index finger joint 620, the second index finger joint 620, the index finger The third knuckle 630 and the fourth knuckle 640 of the index finger are hinged in sequence, and the first knuckle 610 of the index finger, the second knuckle 620 of the index finger, the third knuckle 630 of the index finger and the fourth knuckle 640 of the index finger are all provided with a first index finger channel for the index finger drive rope 650 to pass through, and the second knuckle 620 of the index finger, the third knuckle 630 of the index finger and the fourth knuckle 640 of the index finger are provided with an index finger channel for the index finger reset rope 660 to pass through. second channel; one end of the index finger drive rope 650 is connected to the second rope drive mechanism 300, and the other end passes through the first channel of the index finger and is connected to the fourth knuckle 640 of the index finger; a detachable index finger reset component 662 is arranged in the fourth knuckle 640 of the index finger, one end of the index finger reset rope 660 is connected to the second knuckle 620 of the index finger, and the other end passes through the second channel of the index finger and is connected to the index finger reset component 662; wherein, the second rope drive mechanism 300 is used to tighten the index finger drive rope 650 to bend the third knuckle 630 and the fourth knuckle 640 of the index finger, and the index finger reset rope 660 pulls the index finger reset component 662 to compress the elastic potential energy; when the second rope drive mechanism 300 releases the index finger drive rope 650, the index finger reset component 662 releases the elastic potential energy to pull the index finger reset rope 660 to unfold the third knuckle 630 and the fourth knuckle 640 of the index finger.

[0109] Specifically, the index finger structure 600 provided in this embodiment is different from the above-mentioned thumb structure 500 in that the index finger structure 600 is composed of the first knuckle 610 of the index finger, the second knuckle 620 of the index finger, the third knuckle 630 of the index finger and the fourth knuckle 640 of the index finger, one end of the first knuckle 610 of the index finger is arranged on the palm 100, and the other end is hinged to the second knuckle 620 of the index finger, and the second knuckle 620 of the index finger, the third knuckle 630 of the index finger and the fourth knuckle 640 of the index finger are hinged in sequence.

[0110] Furthermore, the index finger structure 600 in the present solution has one more joint than the thumb structure 500, and the joint can be used to drive the index finger structure 600 to swing along the left and right directions of the palm 100, which can better simulate the human index finger, be more realistic, and perform more delicate operations; when the second rope drive mechanism 300 drives the index finger drive rope 650 to tighten, the index finger drive rope 650 tightens and bends the third knuckle 630 and the fourth knuckle 640 of the index finger, and the index finger reset rope 660 is tightened to drive the index finger reset member 662 to compress, and the index finger reset member 662 stores elastic potential energy; when the second rope drive mechanism 300 releases the index finger drive rope 650, the index finger reset rope 660 relaxes, and the index finger reset member 662 releases the elastic potential energy to pull the third knuckle 630 and the fourth knuckle 640 of the index finger to unfold the third knuckle 630 and the fourth knuckle 640 of the index finger.

[0111] For example Figures 6 to 8 As shown, in another embodiment of the present application, the index finger structure 600 also includes an index finger locking piece 661 for fixing the index finger reset rope 660, an index finger adjustment groove is provided in the second knuckle 620 of the index finger, one end of the index finger reset rope 660 extends into the index finger adjustment groove and is wound around the index finger locking piece 661, and the index finger locking piece 661 is fixed in the index finger adjustment groove.

[0112] Specifically, the present embodiment discloses that an index finger adjustment groove is installed on the left side of the top of the second knuckle 620 of the index finger. At this time, the index finger adjustment groove is completely exposed, and an index finger locking member 661 is installed in the index finger adjustment groove. The index finger reset rope 660 is wound around the index finger locking member 661. When the number of windings of the index finger reset rope 660 is greater, the length of the index finger reset rope 660 is different, and the pre-tightening force generated is different. The setting of the index finger locking member 661 can adjust the pre-tightening force of the index finger reset rope 660.

[0113] The index finger locking member 661 disclosed in the embodiment of the present application adopts an index finger screw, which is connected to the index finger adjustment groove with a thread and is wound around one end of the index finger reset rope 660. When the index finger reset rope 660 is wound around the index finger screw and subjected to tension, the threaded connection between the index finger screw and the index finger adjustment groove will be tightened, and the index finger reset rope 660 will be more tightly locked, making it less likely to slip off.

[0114] See also Figures 6 to 8As shown, in another embodiment of the present application, an index finger mounting groove is provided in the fourth knuckle 640 of the index finger, the index finger resetting member 662 is detachably provided in the index finger mounting groove, and an index finger abutment member 663 is provided in the index finger mounting groove, the index finger abutment member 663 has a tail and a head, the tail is passed through the index finger resetting member 662, the head abuts against the index finger resetting member 662, and the other end of the index finger resetting rope 660 passes through the tail and is connected to the head.

[0115] Specifically, the index finger installation groove disclosed in this embodiment is located in the fourth knuckle 640 of the index finger, and the index finger reset member 662 is installed in the index finger installation groove. The index finger reset member 662 is an index finger spring. The detachable setting of the index finger installation groove and the index finger spring facilitates replacement and reduces the difficulty of maintenance. The head of the index finger abutment member 663 is connected to the index finger reset member 662, and the tail of the index finger abutment member 663 is inserted into the index finger spring and connected to the index finger reset rope 660. The setting of the index finger abutment member 663 makes the force on the index finger spring more uniform.

[0116] See also Figure 8 As shown, in another specific embodiment of the present application, the index finger first channel includes: an index finger first pin 651 arranged in the second knuckle 620 of the index finger, an index finger second pin 652 and an index finger third pin 653 arranged in the third knuckle 630 of the index finger in sequence, and an index finger fourth pin 654 arranged in the fourth knuckle 640 of the index finger, wherein one end of the index finger drive rope 650 passes through the upper side of the index finger first pin 651, the upper side of the index finger second pin 652, and the upper side of the index finger third pin 653, and is connected to the index finger fourth pin 654.

[0117] Specifically, the present embodiment discloses a first index finger channel, which is used for the index finger drive rope 650 to pass through, thereby ensuring that the index finger drive rope 650 is in a tensioned state and improving the reliability of the index finger drive rope 650.

[0118] For example Figure 8As shown, in another specific embodiment of the present application, the second channel of the index finger includes: the fifth index finger pin 664 and the sixth index finger pin 665 are sequentially arranged in the second knuckle 620 of the index finger, the seventh index finger pin 666, the eighth index finger pin 667 and the ninth index finger pin 668 are sequentially arranged in the third knuckle 630 of the index finger, and the tenth index finger pin 669 and the eleventh index finger pin 6610 are sequentially arranged in the index finger; wherein, one end of the index finger reset rope 660 passes through the upper side of the fifth index finger pin 664, then from the lower side of the sixth index finger pin 665, and through the lower sides of the seventh index finger pin 666 and the eighth index finger pin 667, then through the upper side of the ninth index finger pin 668, and finally through the upper sides of the tenth index finger pin 669 and the eleventh index finger pin 6610, and is connected to the index finger reset member 662.

[0119] Specifically, the present embodiment discloses a second index finger channel, which is used to install the index finger reset rope 660 to ensure the tension of the index finger reset rope 660 and ensure the power transmission of the index finger reset rope 660.

[0120] See also Figure 8 As shown, in another embodiment of the present application, a rotating shaft 611 is provided on the first knuckle 610 of the index finger, and the rotating shaft 611 is rotatably connected to the second knuckle 620 of the index finger, with gaps left at both ends, and torsion springs 612 are provided in the two gaps, and the torque directions of the two torsion springs 612 are different from each other.

[0121] Specifically, one end of the first knuckle 610 of the index finger is fixedly connected to the palm 100, and the other end is rotatably connected to the second knuckle 620 of the index finger through the rotating shaft 611, so that the second knuckle 620 of the index finger can be rotated around the rotating shaft 611 on the first knuckle 610 of the index finger along the left and right directions of the palm 100, and both ends of the rotating shaft 611 leave gaps in the second knuckle 620 of the index finger, and torsion springs 612 are respectively installed at both ends of the rotating shaft 611, one end of the torsion spring 612 is connected to the inner wall of the second knuckle 620 of the index finger, and the other end is connected to the rotating shaft 611, and the torque directions of the two torsion springs 612 are different.

[0122] In actual use, when an external force is applied to cause the second knuckle 620 of the index finger to rotate along the rotating shaft 611 in the first knuckle 610 of the index finger toward the left and right directions of the palm 100, the torsion directions of the two torsion springs 612 are different, so that one torsion spring 612 is tightened and the other torsion spring 612 is relaxed. When the external force disappears, the force of the torsion spring 612 will prompt the second knuckle 620 of the index finger to return to its original position, thereby maintaining a balanced state and ensuring that the second knuckle 620 of the index finger can return to its original position after swinging sideways.

[0123] In another embodiment of the present application, the shapes and structures of the index finger structure 600 , the middle finger structure 700 , the ring finger structure 800 and the little finger structure 900 are completely the same.

[0124] Specifically, the present embodiment discloses that the structures of the index finger structure 600, the middle finger structure 700, the ring finger structure 800, and the pinky finger structure 900 are completely identical in shape, that is, by adopting the same style of structure design for the other four finger structures, not only the cost is reduced, but also batch production is facilitated. In addition, the index finger structure 600, the middle finger structure 700, the ring finger structure 800, and the pinky finger structure 900 can all swing sideways.

[0125] Furthermore, angle sensors are provided on the index finger structure 600, the middle finger structure 700, the ring finger structure 800, the little finger structure 900 and the thumb structure 500, and a control system is provided on the palm, and all the angle sensors are connected to the control system, so that the bending angle of each structure can be obtained.

[0126] See also Fig. 9 As shown, the present application also provides a control method for a bionic dexterous hand, the control method is applied to the bionic dexterous hand as described in the above technical solution, and the control method includes:

[0127] S100, receiving an action instruction;

[0128] S200: Determine the first rope-driven mechanism, the second rope-driven mechanism, and the third rope-driven mechanism corresponding to the motion instruction to drive the bionic dexterous hand to bend to a target position.

[0129] Specifically, the user sends an action command to the bionic dexterous hand, and obtains the finger structure to be driven according to the action command, such as any one or more of the index finger structure, the middle finger structure, the ring finger structure, the little finger structure, and the thumb structure, and then finds the corresponding first rope drive mechanism, the second rope drive mechanism, or the third rope drive mechanism according to the finger structure to be driven. As can be seen from the above, the first rope drive mechanism controls the thumb mechanism, the second rope drive mechanism controls the index finger structure, and the third rope drive mechanism controls the middle finger structure, the ring finger structure, and the little finger structure, and the bionic dexterous hand is driven to bend to the target position through the action command. It can be understood that the target position refers to the bending angle and bending direction of the corresponding driven finger structure, and the finger structure refers to the index finger structure, the middle finger structure, the ring finger structure, the little finger structure, or the thumb structure.

[0130] For example, when driving the index finger structure, middle finger structure, ring finger structure, little finger structure and thumb structure to rotate to the target position together, since there are only the first rope drive mechanism, the second rope drive mechanism and the third rope drive mechanism, three rope drive mechanisms can be used to realize the rotation of the five finger structures to the target position, thereby reducing the operating steps and making it more flexible and convenient to use.

[0131] Exemplarily, the user may also issue a finger motion instruction to drive the first rope-driven mechanism and the second rope-driven mechanism to achieve bending of the thumb structure and the index finger structure to the target position.

[0132] Exemplarily, the user can also issue finger motion instructions to drive the first rope-driven mechanism and the third rope-driven mechanism to achieve the bending of the thumb structure, middle finger structure, ring finger structure and little finger structure to the target position. It can be seen that the finger structures of the bionic dexterous hand in this solution are more flexible.

[0133] In summary, the present invention provides a bionic dexterous hand and a control method thereof. By setting a first rope drive mechanism, a second rope drive mechanism and a third rope drive mechanism, the first rope drive mechanism is controlled separately, and the retraction and extension actions of five fingers can be driven by only three drives, thereby reducing the occupation of the inner space of the palm, so as to reduce the thickness and width of the palm, make the design more ergonomic, improve the integration of the bionic dexterous hand, and effectively reduce the cost; the index finger structure is connected to the first rope drive mechanism, and the thumb structure is connected to the second rope drive mechanism, all of which adopt a separate drive direct control method, eliminating the intermediate transmission link, reducing The energy loss and error accumulation in the transmission process can achieve more precise position control and improve the flexibility of the thumb structure and the index finger structure; the thumb structure of the present invention is provided with a thumb locking member with adjustable preload and a detachable thumb reset member, which solves the problem that the thumb rebound is difficult to adjust and the thumb reset member cannot be removed in the thumb structure; the index finger structure of the present invention is provided with a rotating shaft, and two torsion springs are provided on the rotating shaft. The torsion directions of the torsion springs are opposite, so that the index finger structure can automatically return to its original position when it is swung laterally by an external force, which significantly improves the grasping ability of various objects and the coordinated movement performance of the hand.

[0134] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A bionic dexterous hand, characterized in that: It comprises a palm, and a thumb structure, an index finger structure, a middle finger structure, a ring finger structure and a pinky finger structure which are hinged to the palm in sequence, and a first rope drive mechanism, a second rope drive mechanism and a third rope drive mechanism which are arranged on the palm; The palm is provided with a first channel, a second channel and three linkage channels; The first rope drive mechanism is connected to the thumb structure via a first channel, and is used to drive the thumb structure to rotate toward the palm direction; The second rope driving mechanism is connected to the index finger structure via the second channel, and is used to drive the index finger structure to rotate toward the palm center; The third rope drive mechanism includes a third rope drive assembly and three linkage ropes, one end of the three linkage ropes is connected to the third rope drive assembly, and the other end passes through the three linkage channels and is respectively connected to the middle finger structure, the ring finger structure and the little finger structure; wherein the third rope drive assembly is used to move on the palm in a direction away from the index finger structure, so as to tighten the three linkage ropes to drive the middle finger structure, the ring finger structure and the little finger structure to rotate toward the palm at the same time.

2. The bionic dexterous hand according to claim 1, characterized in that: The third rope drive assembly includes a slider, a linkage pulley, a third drive rope, a fourth drive rope and a drive component; The slider is slidably arranged on the palm and connected to the driving component. The slider is provided with the linkage pulley, and the linkage pulley includes a first wheel disc and a second wheel disc. The third driving rope is wound around the first wheel disc, and the two ends form a first end and a second end. One end of the fourth driving rope is wound around the second wheel disc. The first end, the second end and the other end of the fourth driving rope form three linkage ropes.

3. The bionic dexterous hand according to claim 2, characterized in that: The three linkage channels include a third channel, a fourth channel and a fifth channel. The first end is connected to the ring finger structure via the third channel, the second end is connected to the little finger structure via the fourth channel, and the other end of the fourth drive rope is connected to the middle finger structure via the fifth channel.

4. The bionic dexterous hand according to claim 3, characterized in that: The palm is provided with a slide rail, the slider is slidably arranged on the slide rail, and the driving component includes: A third motor is disposed on the palm; A third winding wheel is arranged on the output shaft of the third motor; A pulley structure, used to be connected with the slider; a transmission rope, one end of which is wound around the third winding wheel and the other end of which is connected to the pulley structure; Among them, the third motor tightens the transmission rope, and the transmission rope pulls the slider through the pulley structure to slide on the slide rail in a direction away from the index finger structure, so as to tighten the third drive rope and the fourth drive rope, and drive the middle finger structure, the ring finger structure and the little finger structure to rotate toward the palm direction.

5. The bionic dexterous hand according to claim 4, characterized in that: The pulley structure comprises: A first fixed pulley, disposed on the palm and rotatably connected to the palm; A second fixed pulley is disposed on the palm and is rotationally connected to the palm and is located on one side of the slide rail; a third fixed pulley, disposed on the slider and rotatably connected to the slider; a fourth fixed pulley, which is disposed on the palm and is rotatably connected to the palm and is located on the other side of the slide rail, wherein the second fixed pulley and the fourth fixed pulley are arranged in parallel; a fifth fixed pulley, disposed on the palm and rotatably connected to the palm; Wherein, the transmission rope is sequentially wound around the upper side of the first fixed pulley, the lower side of the second fixed pulley, the upper side of the third fixed pulley and the lower side of the fourth fixed pulley, and is connected to the fifth fixed pulley.

6. The bionic dexterous hand according to claim 1, characterized in that: The thumb structure comprises a first thumb joint, a second thumb joint, a third thumb joint, a thumb drive rope and a thumb reset rope; One end of the first thumb joint is arranged on the palm, and the other end is hinged to the second thumb joint, and the second thumb joint is hinged to the third thumb joint. The first thumb joint, the second thumb joint and the third thumb joint are all provided with a first thumb passage for the thumb driving rope to pass through, and the second thumb joint and the third thumb joint are all provided with a second thumb passage for the thumb reset rope to pass through. One end of the thumb drive rope is connected to the first rope drive mechanism, and the other end of the thumb drive rope passes through the first thumb channel and is connected to the third thumb joint; a detachable thumb reset piece is arranged in the third thumb joint, and one end of the thumb reset rope is connected to the second thumb joint, and the other end passes through the second thumb channel and is connected to the thumb reset piece; Wherein, the first rope drive mechanism is used to tighten the thumb drive rope to bend the second knuckle of the thumb and the third knuckle of the thumb, and the thumb reset rope pulls the thumb reset member to compress elastic potential energy; when the first rope drive mechanism releases the thumb drive rope, the thumb reset member releases elastic potential energy to pull the thumb reset rope to unfold the second knuckle of the thumb and the third knuckle of the thumb.

7. The bionic dexterous hand according to claim 6, characterized in that: The thumb structure also includes a thumb locking piece for fixing the thumb reset rope. A thumb adjustment groove is arranged in the second knuckle of the thumb. One end of the thumb reset rope extends into the thumb adjustment groove and is wound around the thumb locking piece. The thumb locking piece is fixed in the thumb adjustment groove.

8. The bionic dexterous hand according to claim 1, characterized in that: The index finger structure comprises a first knuckle of the index finger, a second knuckle of the index finger, a third knuckle of the index finger, a fourth knuckle of the index finger, an index finger driving rope and an index finger resetting rope; One end of the first knuckle of the index finger is arranged on the palm, and the other end is hinged to the second knuckle of the index finger, the second knuckle of the index finger, the third knuckle of the index finger and the fourth knuckle of the index finger are hinged in sequence, the first knuckle of the index finger, the second knuckle of the index finger, the third knuckle of the index finger and the fourth knuckle of the index finger are all provided with a first index finger channel for the index finger driving rope to pass through, and the second knuckle of the index finger, the third knuckle of the index finger and the fourth knuckle of the index finger are provided with a second index finger channel for the index finger reset rope to pass through; One end of the index finger driving rope is connected to the second rope driving mechanism, and the other end passes through the first channel of the index finger and is connected to the fourth knuckle of the index finger; A detachable index finger reset piece is arranged in the fourth knuckle of the index finger, one end of the index finger reset rope is connected to the second knuckle of the index finger, and the other end passes through the second channel of the index finger and is connected to the index finger reset piece; Among them, the second rope drive mechanism is used to tighten the index finger drive rope to bend the third joint of the index finger and the fourth joint of the index finger, and the index finger reset rope pulls the index finger reset part to compress the elastic potential energy; when the second rope drive mechanism releases the index finger drive rope, the index finger reset part releases the elastic potential energy to pull the index finger reset rope to unfold the third joint of the index finger and the fourth joint of the index finger.

9. The bionic dexterous hand according to claim 8, characterized in that: A rotating shaft is arranged on the first joint of the index finger, the rotating shaft is rotatably connected to the second joint of the index finger, and gaps are left at both ends. Torsion springs are arranged in the two gaps, and the torsion directions of the two torsion springs are different.

10. A control method for a bionic dexterous hand, the control method being applied to the bionic dexterous hand according to any one of claims 1 to 9, characterized in that: The control method comprises: Receive action instructions; The first rope-driven mechanism, the second rope-driven mechanism and the third rope-driven mechanism corresponding to the motion instruction are determined to drive the bionic dexterous hand to bend to a target position.

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